#include <drvj.h>

Inheritance diagram for AngularVelocityJoint:

Collaboration diagram for AngularVelocityJoint:

Public Member Functions
	AngularVelocityJoint (unsigned int uL, const DofOwner pDO, const StructNode pN, const Vec3 &TmpDir, const DriveCaller *pDC, flag fOut)

	~AngularVelocityJoint (void)

virtual Joint::Type	GetJointType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual unsigned int	iGetNumDof (void) const

DofOrder::Order	GetDofType (unsigned int i) const

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i=0) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from Joint
	Joint (unsigned int uL, const DofOwner *pD, flag fOut)

virtual	~Joint (void)

virtual Elem::Type	GetElemType (void) const

std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const

virtual void	SetInitialValue (VectorHandler &)

virtual void	SetValue (DataManager pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints ph=0)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

Public Member Functions inherited from ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

virtual bool	bGetGravity (const Vec3 &X, Vec3 &Acc) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Public Member Functions inherited from DriveOwner
	DriveOwner (const DriveCaller *pDC=0)

	DriveOwner (const DriveOwner &drive)

virtual	~DriveOwner (void)

void	Set (const DriveCaller *pDC)

DriveCaller *	pGetDriveCaller (void) const

doublereal	dGet (const doublereal &dVar) const

doublereal	dGet (void) const

bool	bIsDifferentiable (void) const

doublereal	dGetP (const doublereal &dVar) const

doublereal	dGetP (void) const

Private Attributes
const StructNode *	pNode

Vec3	Dir

doublereal	dM

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from Joint
enum	Type { UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP, SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION, UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN, AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE, INPLANECONTACT, J_INLINE, ROD, RODBEZIER, DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT, VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION, ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP, DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN, IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL, POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION, TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE }

Protected Member Functions inherited from Joint
virtual void	OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetS_int (void) const

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from DriveOwner
DriveCaller *	pDriveCaller

Detailed Description

Definition at line 133 of file drvj.h.

Constructor & Destructor Documentation

AngularVelocityJoint::AngularVelocityJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN,
		const Vec3 &	TmpDir,
		const DriveCaller *	pDC,
		flag	fOut
	)

Definition at line 253 of file drvj.cc.

References NO_OP.

 : Elem(uL, fOut), 
 Joint(uL, pDO, fOut), 
 DriveOwner(pDC), 
 pNode(pN), Dir(TmpDir), dM(0.)
 {
    NO_OP;
 }

AngularVelocityJoint::~AngularVelocityJoint ( void )

Definition at line 269 of file drvj.cc.

References NO_OP.

 {
    NO_OP;
 }

Member Function Documentation

VariableSubMatrixHandler & AngularVelocityJoint::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 312 of file drvj.cc.

References DEBUGCOUT, Vec3::dGet(), Dir, dM, StructNode::GetRRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, SparseSubMatrixHandler::PutCross(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

 {
    DEBUGCOUT("Entering AngularVelocityJoint::AssJac()" << std::endl);
 
    SparseSubMatrixHandler& WM = WorkMat.SetSparse();
    WM.ResizeReset(12, 0);
    
    integer iFirstPositionIndex = pNode->iGetFirstPositionIndex()+3;
    integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex()+3;
    integer iFirstReactionIndex = iGetFirstIndex();
    
    Vec3 TmpDir(pNode->GetRRef()*Dir);
    
    for (int iCnt = 1; iCnt <= 3; iCnt++) {
       doublereal d = TmpDir.dGet(iCnt);
       WM.PutItem(iCnt, iFirstMomentumIndex+iCnt,
                   iFirstReactionIndex+1, d);
       WM.PutItem(3+iCnt, iFirstReactionIndex+1,
                   iFirstPositionIndex+iCnt, d);
    }
    
    WM.PutCross(7, iFirstMomentumIndex, 
                 iFirstPositionIndex, TmpDir*(-dM*dCoef));
    
    return WorkMat;
 }

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SubVectorHandler & AngularVelocityJoint::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 344 of file drvj.cc.

References VectorHandler::Add(), DEBUGCOUT, DriveOwner::dGet(), Dir, dM, StructNode::GetRCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
    DEBUGCOUT("Entering AngularVelocityJoint::AssRes()" << std::endl);
 
    /* Dimensiona e resetta la matrice di lavoro */
    integer iNumRows = 0;
    integer iNumCols = 0;
    this->WorkSpaceDim(&iNumRows, &iNumCols);
    WorkVec.ResizeReset(iNumRows);
       
    /* Indici */
    integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex()+3;
    integer iFirstReactionIndex = iGetFirstIndex();
    
    /* Indici del nodo */
    for (int iCnt = 1; iCnt <= 3; iCnt++) {      
       WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex+iCnt);
    }
    
    WorkVec.PutRowIndex(4, iFirstReactionIndex+1);
 
    /* Aggiorna i dati propri */
    dM = XCurr(iFirstReactionIndex+1);
    
    /* Recupera i dati */
    Vec3 Omega(pNode->GetWCurr());
    Vec3 TmpDir(pNode->GetRCurr()*Dir);
    
    /* Equazioni di equilibrio, nodo 1 */
    WorkVec.Add(1, TmpDir*(-dM));
    
    
    /* Equazione di vincolo di velocita' */
    doublereal dw0 = dGet();
    WorkVec.PutCoef(4, dw0-TmpDir.Dot(Omega));
    
    return WorkVec;   
 }

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doublereal AngularVelocityJoint::dGetPrivData ( unsigned int i = 0 ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 304 of file drvj.cc.

References ASSERT, and DriveOwner::dGet().

 {
         ASSERT(i == 1);
 
         return dGet();
 }

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virtual void AngularVelocityJoint::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 213 of file drvj.h.

References pNode.

                                                                                  {
      connectedNodes.resize(1);
      connectedNodes[0] = pNode;
    };

DofOrder::Order AngularVelocityJoint::GetDofType ( unsigned int i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 163 of file drvj.h.

References DofOrder::ALGEBRAIC, and ASSERT.

    {
       ASSERT(i == 0);
       return DofOrder::ALGEBRAIC; 
    };

virtual Joint::Type AngularVelocityJoint::GetJointType ( void ) const

inlinevirtual

Implements Joint.

Definition at line 153 of file drvj.h.

References Joint::ANGULARVELOCITY.

154 { return Joint::ANGULARVELOCITY; };

Joint::ANGULARVELOCITY

Definition: joint.h:94

virtual unsigned int AngularVelocityJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 187 of file drvj.h.

                                                       { 
       return 1;
    };

virtual unsigned int AngularVelocityJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 159 of file drvj.h.

                                                { 
       return 1;
    };

unsigned int AngularVelocityJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 286 of file drvj.cc.

 {
         return 1;
 }

unsigned int AngularVelocityJoint::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 292 of file drvj.cc.

References ASSERT.

 {
         ASSERT(s != NULL);
 
         if (strcmp(s, "w") == 0) {
                 return 1;
         }
 
         return 0;
 }

VariableSubMatrixHandler & AngularVelocityJoint::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 401 of file drvj.cc.

References Vec3::Cross(), DEBUGCOUT, Vec3::dGet(), Dir, dM, StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, SparseSubMatrixHandler::PutCross(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

 {   
    DEBUGCOUT("Entering AngularVelocityJoint::InitialAssJac()" << std::endl);
 
    SparseSubMatrixHandler& WM = WorkMat.SetSparse();
    WM.ResizeReset(15, 0);
    
    integer iFirstPositionIndex = pNode->iGetFirstPositionIndex()+3;
    integer iFirstVelocityIndex = iFirstPositionIndex+6;
    integer iFirstReactionIndex = iGetFirstIndex();
    
    Vec3 Tmp(Dir.Cross(pNode->GetWRef()));
    for(int iCnt = 1; iCnt <= 3; iCnt++)
      {
         doublereal d = Dir.dGet(iCnt);
         WM.PutItem(iCnt, iFirstVelocityIndex+iCnt,
                     iFirstReactionIndex+1, d);
         WM.PutItem(3+iCnt, iFirstReactionIndex+1,
                     iFirstVelocityIndex+iCnt, d);
         WM.PutItem(6+iCnt, iFirstReactionIndex+1,
                     iFirstPositionIndex+iCnt, Tmp.dGet(iCnt));
      }
    
    WM.PutCross(10, iFirstVelocityIndex, iFirstPositionIndex, Dir*(-dM));
    
    return WorkMat;
 }

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SubVectorHandler & AngularVelocityJoint::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 433 of file drvj.cc.

References VectorHandler::Add(), DEBUGCOUT, DriveOwner::dGet(), Dir, dM, Vec3::Dot(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {   
    DEBUGCOUT("Entering AngularVelocityJoint::InitialAssRes()" << std::endl);
 
    /* Dimensiona e resetta la matrice di lavoro */
    integer iNumRows = 0;
    integer iNumCols = 0;
    this->InitialWorkSpaceDim(&iNumRows, &iNumCols);
    WorkVec.ResizeReset(iNumRows);
       
    /* Indici */
    integer iFirstVelocityIndex = pNode->iGetFirstPositionIndex()+9;
    integer iFirstReactionIndex = iGetFirstIndex();
    
    /* Indici del nodo */
    for(int iCnt = 1; iCnt <= 3; iCnt++)
      {  
         WorkVec.PutRowIndex(iCnt, iFirstVelocityIndex+iCnt);
      }
    
    WorkVec.PutRowIndex(4, iFirstReactionIndex+1);
 
    /* Aggiorna i dati propri */
    dM = XCurr(iFirstReactionIndex+1);
    
    /* Recupera i dati */
    Vec3 Omega(pNode->GetWCurr());   
    
    /* Equazioni di equilibrio, nodo 1 */
    WorkVec.Add(1, -Dir*dM);
    
    /* Equazione di vincolo di velocita' */
    doublereal dw0 = dGet();
    WorkVec.PutCoef(4, dw0-Dir.Dot(Omega));
    
    return WorkVec;
 }

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virtual void AngularVelocityJoint::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 191 of file drvj.h.

Referenced by InitialAssRes().

                                                               { 
       *piNumRows = 4; 
       *piNumCols = 7; 
    };

void AngularVelocityJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 387 of file drvj.cc.

References ToBeOutput::bToBeOutput(), DriveOwner::dGet(), Dir, dM, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), Joint::Output(), pNode, and Zero3.

 {
    if(bToBeOutput()) {      
       Vec3 Tmp(pNode->GetRCurr()*Dir);
       
       Joint::Output(OH.Joints(), "AngularVelocity", GetLabel(),
                     Zero3, Vec3(dM, 0., 0.), Zero3, Tmp*dM)
         << " " << Tmp << " " << dGet() << std::endl;      
    }   
 }

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std::ostream & AngularVelocityJoint::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 276 of file drvj.cc.

References Dir, WithLabel::GetLabel(), DriveOwner::pGetDriveCaller(), pNode, Joint::Restart(), DriveCaller::Restart(), and Vec3::Write().

 {
    Joint::Restart(out) << ", angular velocity, "
      << pNode->GetLabel() << ", reference, node, ",
      Dir.Write(out, ", ") << ", ";
    return pGetDriveCaller()->Restart(out) << ';' << std::endl;
 }

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void AngularVelocityJoint::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 169 of file drvj.h.

Referenced by AssRes().

170 { *piNumRows = 4; *piNumCols = 4; };

Member Data Documentation

Vec3 AngularVelocityJoint::Dir

private

Definition at line 137 of file drvj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

doublereal AngularVelocityJoint::dM

private

Definition at line 138 of file drvj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

const StructNode* AngularVelocityJoint::pNode

private

Definition at line 136 of file drvj.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation